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56 lines
1.0 KiB
C++
56 lines
1.0 KiB
C++
/**
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* @file
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* @brief Representation of the parameter of a k-d tree
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* @author Andreas Nuechter. jacobs University Bremen, Germany.
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*/
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#ifndef __KDPARAMS_H__
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#define __KDPARAMS_H__
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#include "slam6d/point.h"
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#include <vector>
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/**
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* @brief Contains the intermediate (static) values of a k-d tree
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*
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* A parameter class for the latter k-d tree.
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* Includes the padding for parallelizetion
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* to avoid cache conflicts.
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**/
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class KDParams
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{
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public:
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/**
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* pointer to the closest point. size = 4 bytes of 32 bit machines
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*/
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double *closest;
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/**
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* distance to the closest point. size = 8 bytes
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*/
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double closest_d2;
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/**
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* pointer to the point, size = 4 bytes of 32 bit machines
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*/
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double *p;
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/**
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* pointer to direction vector, if we're using FindClosestAlongDir
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*/
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double *dir;
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/**
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* heap for KNN.
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*/
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std::vector<std::pair<Point, double> > heap;
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/**
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* expand to 128 bytes to avoid false-sharing, 16 bytes from above + 28*4 bytes = 128 bytes
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*/
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int padding[28];
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};
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#endif
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